ROS命令记录

最新推荐文章于 2022-09-09 16:59:20 发布
最新推荐文章于 2022-09-09 16:59:20 发布
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分类专栏： ros、slam学习调试 文章标签： linux ubuntu
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本文链接：https://blog.csdn.net/weixin_43848456/article/details/120800608
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ros记录

1. 查找ros包：rospack find [package_name]

例子：

rospack find usb_cam

2. [joint_state_publisher-2] process has died

运行

roslaunch mbot_description display_mbot_base_urdf.launch

出错。

解决：                        .utdf文件中不要加中文注释

3. joint 标签

链接: https://blog.csdn.net/weixin_41420355/article/details/104310896.

4. building editor 闪退和gazebo加载不出模型而黑屏

export SVGA_VGPU10=0    #关闭3d加速，开启gazebo时需要（building editor），

5.models冲突

未解决：
请添加图片描述

5. 自定义消息

#include<serail_demo/GPS.h>   //由GPS.msg文件经catkin_make编译生成在build文件夹下

使用：

serail_demo::GPS g_d;    //自定义话题消息

注意：当.msg文件夹被更改后如果直接编译：

The dependencies of the message/service 'serial_demo/GPS' have changed. Please rerun cmake.


rostopic echo /gps_data  # 必须source devel/setup.bash

将build和devel文件夹删去进行重新编译

5.1自定义消息的Header header使用

Person.msg中

Header header
string name
uint8 sex
uint8 age

uint8 unknown = 0
uint8 male    = 1
uint8 female  = 2

/**
 * 该例程将发布chatter话题，消息类型String
 */
 
#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"
#include<learning_communication/Person.h>

int main(int argc, char **argv)
{
  learning_communication::Person person;   //自定义消息数据类型
  // ROS节点初始化
  ros::init(argc, argv, "talker");
  // 创建节点句柄
  ros::NodeHandle n;
  
  // 创建一个Publisher，发布名为chatter的topic，消息类型为自定义类型learning_communication::Person
  ros::Publisher chatter_pub = n.advertise<learning_communication::Person>("chatter", 1000);
  // 设置循环的频率
  ros::Rate loop_rate(10);
  //std_msgs::Header header;
  int count = 0;
  person.name="ming";
  person.sex=2;
  person.age=20;
  person.header.frame_id="ming_topic";
  
  while (ros::ok())
  {
	// 发布消息
    ROS_INFO("%s", person.name.c_str()); //.c_str():返回一个C语言字符串的指针常量（即可读不可改变）
    person.header.stamp=ros::Time::now();//在while循环中实时更新ros时间
    chatter_pub.publish(person);   //将消息发布出去

	// 循环等待回调函数
    ros::spinOnce();  //查阅一次回调函数
	
	// 按照循环频率延时
    loop_rate.sleep();  //很重要，防止过度占用资源
    //++count;
  }

  return 0;
}

请添加图片描述

6. ros中使用串口

先赋予串口权限：

sudo chmod 666 /dev/ttyUSB0

7. cmake与 make

cmake .     #生成makefile
make # 编译

7.1 build下

mkdir build 
cd build
cmake ..
make

8. slam十四讲第二版ch4代码

安装Sophus
进入github将Sophus下载解压缩cd进入Sophus目录

mkdir build 
cd build
cmake ..
make
sudo make install   #安装在根目录下否则还是找不到

编译是还是会遇到以下错误：

Fatal error !! cannot find <fmt/core.h>

同上述方法安装fmt
再次编译出现错误

CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘fmt::v8::detail::error_handler::on_error(char const*)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail13error_handler8on_errorEPKc[_ZN3fmt2v86detail13error_handler8on_errorEPKc]+0x8)：对‘fmt::v8::detail::throw_format_error(char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘std::make_unsigned<long>::type fmt::v8::detail::to_unsigned<long>(long)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail11to_unsignedIlEENSt13make_unsignedIT_E4typeES4_[_ZN3fmt2v86detail11to_unsignedIlEENSt13make_unsignedIT_E4typeES4_]+0x21)：对‘fmt::v8::detail::assert_fail(char const*, int, char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘std::make_unsigned<int>::type fmt::v8::detail::to_unsigned<int>(int)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail11to_unsignedIiEENSt13make_unsignedIT_E4typeES4_[_ZN3fmt2v86detail11to_unsignedIiEENSt13make_unsignedIT_E4typeES4_]+0x1f)：对‘fmt::v8::detail::assert_fail(char const*, int, char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘Sophus::SO3Base<Sophus::SO3<double, 0> >::logAndTheta() const’中：
trajectoryError.cpp:(.text._ZNK6Sophus7SO3BaseINS_3SO3IdLi0EEEE11logAndThetaEv[_ZNK6Sophus7SO3BaseINS_3SO3IdLi0EEEE11logAndThetaEv]+0x200)：对‘fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)’未定义的引用
trajectoryError.cpp:(.text._ZNK6Sophus7SO3BaseINS_3SO3IdLi0EEEE11logAndThetaEv[_ZNK6Sophus7SO3BaseINS_3SO3IdLi0EEEE11logAndThetaEv]+0x285)：对‘fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘Sophus::SO3Base<Sophus::SO3<double, 0> >::normalize()’中：
trajectoryError.cpp:(.text._ZN6Sophus7SO3BaseINS_3SO3IdLi0EEEE9normalizeEv[_ZN6Sophus7SO3BaseINS_3SO3IdLi0EEEE9normalizeEv]+0x13a)：对‘fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)’未定义的引用
trajectoryError.cpp:(.text._ZN6Sophus7SO3BaseINS_3SO3IdLi0EEEE9normalizeEv[_ZN6Sophus7SO3BaseINS_3SO3IdLi0EEEE9normalizeEv]+0x1a7)：对‘fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘char const* fmt::v8::detail::parse_align<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x7d)：对‘fmt::v8::detail::assert_fail(char const*, int, char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘int fmt::v8::detail::parse_nonnegative_int<char>(char const*&, char const*, int)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail21parse_nonnegative_intIcEEiRPKT_S5_i[_ZN3fmt2v86detail21parse_nonnegative_intIcEEiRPKT_S5_i]+0x39)：对‘fmt::v8::detail::assert_fail(char const*, int, char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘char const* fmt::v8::detail::parse_width<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x70)：对‘fmt::v8::detail::assert_fail(char const*, int, char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘void fmt::v8::detail::format_value<char, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> const> >(fmt::v8::detail::buffer<char>&, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> const> const&, fmt::v8::detail::locale_ref)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail12format_valueIcN5Eigen9TransposeIKNS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEvRNS1_6bufferIT_EERKT0_NS1_10locale_refE[_ZN3fmt2v86detail12format_valueIcN5Eigen9TransposeIKNS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEvRNS1_6bufferIT_EERKT0_NS1_10locale_refE]+0xc5)：对‘std::locale fmt::v8::detail::locale_ref::get<std::locale>() const’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘fmt::v8::detail::fill_t<char>::operator=(fmt::v8::basic_string_view<char>)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail6fill_tIcEaSENS0_17basic_string_viewIcEE[_ZN3fmt2v86detail6fill_tIcEaSENS0_17basic_string_viewIcEE]+0x56)：对‘fmt::v8::detail::throw_format_error(char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘char const* fmt::v8::detail::do_parse_arg_id<char, fmt::v8::detail::parse_width<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)::width_adapter&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0xb5)：对‘fmt::v8::detail::assert_fail(char const*, int, char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘char const* fmt::v8::detail::do_parse_arg_id<char, fmt::v8::detail::parse_precision<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)::precision_adapter&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0xb5)：对‘fmt::v8::detail::assert_fail(char const*, int, char const*)’未定义的引用
CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘void fmt::v8::detail::format_value<char, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >(fmt::v8::detail::buffer<char>&, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > const&, fmt::v8::detail::locale_ref)’中：
trajectoryError.cpp:(.text._ZN3fmt2v86detail12format_valueIcN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEvRNS1_6bufferIT_EERKT0_NS1_10locale_refE[_ZN3fmt2v86detail12format_valueIcN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEvRNS1_6bufferIT_EERKT0_NS1_10locale_refE]+0xc5)：对‘std::locale fmt::v8::detail::locale_ref::get<std::locale>() const’未定义的引用
collect2: error: ld returned 1 exit status
example/CMakeFiles/trajectoryError.dir/build.make:127: recipe for target 'example/trajectoryError' failed
make[2]: *** [example/trajectoryError] Error 1
CMakeFiles/Makefile2:122: recipe for target 'example/CMakeFiles/trajectoryError.dir/all' failed
make[1]: *** [example/CMakeFiles/trajectoryError.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

在example文件下修改CMakeLists.txt

find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})
add_executable(trajectoryError trajectoryError.cpp)
target_link_libraries(trajectoryError ${Pangolin_LIBRARIES})

# Eigen
include_directories("/usr/local/include/eigen3")
target_link_libraries(trajectoryError ${Sophus_LIBRARIES} fmt)# trajectoryError依赖于Sophus，Sophus依赖于fmt

再次编译成功
运行请添加图片描述
注意修改程序中打开estimated.txt和groundtruth.txt的文件路径位置

9. g2o问题(待解决)

3d2d

quanchao@qac:~/shenlan_guyue_ros_cource/slambook2/ch7$ cmake-build-debug/pose_estimation_3d2d 1.png 2.png 1_depth.png 2_depth.png 
-- Max dist : 95.000000 
-- Min dist : 4.000000 
一共找到了79组匹配点
3d-2d pairs: 76
solve pnp in opencv cost time: 0.000257344 seconds.
R=
[0.9978662025826269, -0.05167241613316376, 0.03991244360207524;
 0.0505958915956335, 0.998339762771668, 0.02752769192381471;
 -0.04126860182960625, -0.025449547736074, 0.998823919929363]
t=
[-0.1272259656955879;
 -0.007507297652615337;
 0.06138584177157709]
calling bundle adjustment by gauss newton
iteration 0 cost=45538.1857253
iteration 1 cost=413.221881688
iteration 2 cost=301.36705717
iteration 3 cost=301.365779441
pose by g-n: 
    0.99786620258  -0.0516724160901   0.0399124437155   -0.127225965886
   0.050595891549    0.998339762774     0.02752769194 -0.00750729768072
 -0.0412686019426  -0.0254495477483    0.998823919924   0.0613858418151
                0                 0                 0                 1
solve pnp by gauss newton cost time: 0.000119001 seconds.
calling bundle adjustment by g2o
terminate called after throwing an instance of 'std::bad_array_new_length'
  what():  std::bad_array_new_length
已放弃 (核心已转储)

3d3d

quanchao@qac:~/shenlan_guyue_ros_cource/slambook2/ch7$ cmake-build-debug/pose_estimation_3d3d 1.png 2.png 1_depth.png 2_depth.png 
-- Max dist : 95.000000 
-- Min dist : 4.000000 
一共找到了79组匹配点
3d-3d pairs: 74
W=  11.9404 -0.567258   1.64182
 -1.79283   4.31299  -6.57615
  3.12791  -6.55815   10.8576
U=  0.474144  -0.880373 -0.0114952
 -0.460275  -0.258979   0.849163
  0.750556   0.397334   0.528006
V=  0.535211  -0.844064 -0.0332488
 -0.434767  -0.309001    0.84587
  0.724242   0.438263   0.532352
ICP via SVD results: 
R = [0.9972395977366735, 0.05617039856770108, -0.04855997354553421;
 -0.05598345194682008, 0.9984181427731503, 0.005202431117422968;
 0.04877538122983249, -0.002469515369266706, 0.9988067198811419]
t = [0.1417248739257467;
 -0.05551033302525168;
 -0.03119093188273836]
R_inv = [0.9972395977366735, -0.05598345194682008, 0.04877538122983249;
 0.05617039856770108, 0.9984181427731503, -0.002469515369266706;
 -0.04855997354553421, 0.005202431117422968, 0.9988067198811419]
t_inv = [-0.1429199667309692;
 0.04738475446275831;
 0.03832465717628154]
calling bundle adjustment
addEdge: FATAL, cannot resolve caches for edge 0x560b02cba150
addEdge: FATAL, cannot resolve caches for edge 0x560b0293f0c0
addEdge: FATAL, cannot resolve caches for edge 0x560b0293f230
addEdge: FATAL, cannot resolve caches for edge 0x560b02f92450
addEdge: FATAL, cannot resolve caches for edge 0x560b02f925e0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f927d0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f929c0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f92bb0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f92da0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f92f90
addEdge: FATAL, cannot resolve caches for edge 0x560b02f93180
addEdge: FATAL, cannot resolve caches for edge 0x560b02f93370
addEdge: FATAL, cannot resolve caches for edge 0x560b02f93560
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addEdge: FATAL, cannot resolve caches for edge 0x560b02f93b30
addEdge: FATAL, cannot resolve caches for edge 0x560b02f93d20
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addEdge: FATAL, cannot resolve caches for edge 0x560b02f94100
addEdge: FATAL, cannot resolve caches for edge 0x560b02f942f0
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addEdge: FATAL, cannot resolve caches for edge 0x560b02f948c0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f94ab0
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addEdge: FATAL, cannot resolve caches for edge 0x560b02f3acb0
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addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b280
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b470
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b660
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b850
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3ba40
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3bc30
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3be20
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c010
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c200
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c3f0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c5e0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c7d0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c9c0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3cbb0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3cda0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3cf90
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d180
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d370
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d560
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d750
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d940
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3db30
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3dd20
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3df10
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e100
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e2f0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e4e0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e6d0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e8c0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3eab0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3eca0
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3ee90
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f080
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f270
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f460
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f650
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f840
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3fa30
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3fc20
addEdge: FATAL, cannot resolve caches for edge 0x560b02f3fe10
addEdge: FATAL, cannot resolve caches for edge 0x560b02f40000
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
已放弃 (核心已转储)
xlsemmmmmm
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专栏目录
视觉SLAM十四讲 ch4 trajectoryError.cpp报错问题和解决
m0_53683803的博客
02-22 4112
首先来看一下我的CMakelist文件： cmake_minimum_required(VERSION 3.0) project(trajectoryError) # 在cmake脚本中，设置编译选项可以通过add_compile_options命令，也可以通过set命令修改CMAKE_CXX_FLAGS或CMAKE_C_FLAGS。 # add_compile_options(-std=c++11) # 这句话的意思是在make时让编译器（g++）自动添加C++11的性质 -> 设置编译选项 op
Ubuntu18.04安装完fmt,Sophus报错
coolzx688的博客
04-06 1309
报错信息：CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘fmt::v9::detail::error_handler::on_error(char const*)’中：/usr/local/include/fmt/core.h:641：对‘fmt::v9::detail::throw_format_error(char const*)’未定义的引用。
关于ROS：[joint_state_publisher-2] process has died求解
lkdfxgirl的博客
02-13 6514
关于ROS：[joint_state_publisher-2] process has died求解 问题描述：运行roslaunch mrobot_description display_mrobot_chassis_urdf.launch 出现的rviz界面中没有“joint_state_publisher&quot;的UI ...
slam十四讲~环境安装以及问题记录
40891629的博客
09-09 4924
整理 ubuntu 安装slam环境，运行slam十四讲代码时遇到的部分问题以及解决方法。
视觉SLAM第2版第4讲Sophus遇到的问题
nanshang_Dr的博客
07-17 1170
1.运行ch4的example报错： /usr/bin/ld: CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o: in function `std::make_unsigned<int>::type fmt::v8::detail::to_unsigned<int>(int)': 下面还有很多···· 原因：应遵循调用层次，从依赖到被依赖。所以在CMakeLists.txt中添加： target_link_libr..
ros脚本，基本ros命令操作指南
01-04
### ROS脚本与基本ROS命令操作指南 #### 一、ROS简介 ROS (Robot Operating System) 是一个开源的元操作系统，用于机器人软件开发。虽然名字中含有“操作系统”，但ROS并不是传统意义上的操作系统，而是一个框架，...
ROS常用命令
06-19
[admin@MikroTik] > Certificate----------证书管理 Driver---------------设备管理 ...log ------------------系统记录 password ------------改变密码 ping ----------------发送,回送ICMP数据包
ros常用命令详解
09-08
在深入探讨ROS（Robot Operating System）的常用命令之前，我们首先需要澄清一点：尽管ROS被称为“操作系统”，但实际上它是一个开源的元操作系统集合，主要用于机器人软件的开发。它提供了一种框架，使得不同的...
ROS常用命令（新手）
08-02
例如，文件中提到的“/queuetypeadd”、“/ipfirewallmangleadd”等命令是针对路由器的配置命令，而非ROS命令。 尽管如此，在ROS系统的实际部署过程中，可能会涉及到网络设备的配置和管理，以确保ROS节点之间能够...
ROS命令大全.pdf
09-21
### ROS命令大全知识点详解 #### 一、开机登录后的常用帮助命令 在ROS（RouterOS）系统中，开机登录后通常会用到一种帮助命令，该命令能够列出所有可用的命令及其简要说明。这对于初次接触ROS系统的用户来说非常...
轨迹优化matlab源代码-TrajectoryOptimization:研究一些机器人系统及其轨迹生成策略
05-28
轨迹优化matlab源代码轨迹优化 此仓库将托管我的研究代码，用于研究不同机器人系统的轨迹优化。 我的最初计划是实施论文“使用隐式硬接触进行轨迹优化”，并研究本文提到的三个工具： 杂技机器人 第一个系统：直接搭配的acrobot 首先需要运行“〜/ optimization / robcogen / robcogen-0.5.1 / etc / cpp-iitrbd / install.sh” acrobot / model / run.sh包含一个运行RobCoGen的脚本，将输出复制到当前文件夹，并将必要的机械手标头和.so安装到/ usr / local / include RobCoGen具有生成URDF模型的选项，但是输出模型没有可视组件。 acrobot / test.cpp用于测试模型 要构建test.cpp，在编写CMakeLists文件以处理RPATH和eigen3路径时，需要格外小心。 弹指 这是在“通过接触进行刚体轨迹优化的直接方法”一文中描述的轨迹生成算法的实现。 ifopt Snopt是一个用Fortran编写的封闭源代码库，它具有c / c ++ / mat
[ROS]（02）创建&编译ROS软件包Package
CynalFly的博客
07-09 2641
packages是在ROS中整理和组织的主要单元，是在ROS中能建立及分享的最小单元。
vslam从入门到如土：slambook2我踩过的坑
bingshuiyuyi的博客
09-20 321
1.使用sophus时报错，从ch4开始 报错内容：/usr/bin/ld: CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o: in function `std::make_unsigned<int>::type fmt::v8::detail::to_unsigned<int>(int)': 解决方法： 安装fmt库 git clone https://github.com/fmtlib/fmt.git cd f
ROS学习笔记（二）探索ROS文件系统
zhelijun的博客
01-02 330
1.学习之前需要安装一个tutorial package sudo apt-get install ros-&lt;distro&gt;-ros-tutorials 2.基本概念 Package：类似与我们编程的一个project，包含库、代码、可执行文件等等 Manifests：类似于package的描述 3 文件系统工具 ros里的代码遍布很多ROS package，因此需要一个方便的文............
ROS学习记录一
weixin_44731709的博客
04-07 207
记录ROS学习过程中的基础知识和常用到的命令，方便以后查阅。
ROS msg 文件修改 报错
robots的博客
07-19 1823
修改msg文件报错 自己定义msg文件，catkin_make没有问题，但是当自己修改了msg文件内容之后catkin_make就会出现错误 The dependencies of the message/service 'nlink_parser/LinktrackTagframe0' have changed. Please rerun cmake. message文件错误，需要重新构建，但是我重新构建不行，查找之后发现需要 catkin clean 我的kinetic版本不能执行这个命令， 查找
slam14讲 跑第四讲例程遇到的问题
qq_33379538的博客
12-14 1577
相关报错及解决方法: 1. 报错: Target "useSophus" links to target "Sophus::Sophus" but the target was not found. 解决方法: CMakelists.txt文件中将 ''target_link_libraries(useSophus Sophus::Sophus)'' 语句改为"target_link_libraries(useSophus ${Sophus_LIBRARIES})"; 2. 找不到se3.hp...
ROS 问题（topic types do not match、topic datatype/md5sum not match、msg xxx have changed. rerun cmake）
wohu1104的专栏
07-07 2193
ROS 问题记录
lio-sam实车调试之添加gps数据
yoga_wyj的博客
12-07 4646
1.尝试加入gps： <launch> <arg name="project" default="lio_sam"/> <env name="ROSCONSOLE_CONFIG_FILE" value="$(find lio_sam)/launch/include/rosconsole/rosconsole_error.conf"/> <!-- EKF GPS--> <node pkg="robot_lo
ros 点云记录bag 命令
最新发布
06-04
ROS是机器人操作系统（Robot Operating System）的简称。它是一个开源的、灵活的、分布式的机器人操作系统，旨在为机器人研究和开发提供一种通用的软件平台。 ROS中的bag文件是一种用于记录和回放ROS topic信息的文件格式。其中，点云数据也可以通过bag文件进行记录和回放。使用ROS中的bag命令可以对点云数据进行记录和回放。 具体来说，可以通过以下命令将点云数据记录到bag文件中： ``` rosbag record -O <bag_file_name> /<point_cloud_topic> ``` 其中，`<bag_file_name>`为bag文件名，`/<point_cloud_topic>`为点云数据所在的ROS topic名。 同样地，可以通过以下命令对bag文件进行回放： ``` rosbag play <bag_file_name> ```
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